29 lines
1.1 KiB
XML
29 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Use with Gazebo T800: depth topics come from URDF depth camera plugin -->
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<arg name="multi_cam" default="true"/>
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<arg name="depth_topic" default="/camera/depth/image_raw"/>
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<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
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<arg name="cloud_topic" default="/camera/depth/points_proc"/>
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<arg name="fixed_frame" default="odom"/>
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<!-- <arg name="rviz" default="true"/> -->
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<node pkg="robot_depth_image_proc"
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type="depth_image_proc_node"
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name="depth_image_proc"
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output="screen">
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<param name="multi_cam" value="$(arg multi_cam)"/>
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<param name="depth_topic" value="$(arg depth_topic)"/>
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<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
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<param name="cloud_topic" value="$(arg cloud_topic)"/>
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<param name="fixed_frame" value="$(arg fixed_frame)"/>
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<param name="publish_tf" value="false"/>
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</node>
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<!-- <node if="$(arg rviz)"
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pkg="rviz"
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type="rviz"
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name="rviz"
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args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_gazebo.rviz"/> -->
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</launch>
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